" ' x c.g.,cw % x c.g.,ccw &4L 180E B $ ' x c.g.,cw & x c.g.,ccw &4L 180E B R ' L/2 sin$/2 . E d ' D R D L ' R%b/2 R&b/2 . Chapter 5: Dead-Reckoning 141 (5.9) (5.10) (5.11) (5.12) Thus, the orientation error in Figure 5.9b is of Type B. In an actual run Type A and Type B errors will of course occur together. The problem is therefore how to distinguish between Type A and Type B errors and how to compute correction factors for these errors from the measured final position errors of the robot in the UMBmark test. This question will be addressed next. Figure 5.9a shows the contribution of Type A errors. We recall that Type A errors are caused mostly by E . We also recall that Type A errors cause too much or too little turning at the corners b of the square path. The (unknown) amount of erroneous rotation in each nominal 90-degree turn is denoted as " and measured in [rad]. Figure 5.9b shows the contribution of Type B errors. We recall that Type B errors are caused mostly by the ratio between wheel diameters E . We also recall that Type B errors cause a slightly d curved path instead of a straight one during the four straight legs of the square path. Because of the curved motion, the robot will have gained an incremental orientation error, denoted $, at the end of each straight leg. We omit here the derivation of expressions for " and $, which can be found from simple geometric relations in Figure 5.9 (see [Borenstein and Feng, 1995a] for a detailed derivation). Here we just present the results: solves for " in [E] and solves for $ in [E]. Using simple geometric relations, the radius of curvature R of the curved path of Figure 5.9b can be found as Once the radius R is computed, it is easy to determine the ratio between the two wheel diameters that caused the robot to travel on a curved, instead of a straight path Similarly one can compute the wheelbase error E . Since the wheelbase b is directly proportional b to the actual amount of rotation, one can use the proportion: b actual 90 b nominal 90 -250 -200 -150 -100 -50 50 100 -50 50 100 150 200 250 Before correction, cw Before correction, ccw After correction, cw After correction, ccw X [mm] Y [mm] \book\deadre81.ds4, .wmf, 07/19/95 Center of gravity of cw runs, after correction Center of gravity of ccw runs, after correction b actual 90 90 b nominal E b 90 90 . 142 Part II Systems and Methods for Mobile Robot Positioning (5.13) Figure 5.10: Position rrors after completion of the bidirectional square-path experiment (4 x 4 m). Before calibration: b = 340.00 mm, D / D = 1.00000. RL After calibration: b = 336.17, D / D = 1.00084. RL (5.14) (5.15) so that where, per definition of Equation (5.2) Once E and E are computed, it is straightforward to use their values as compensation factors bd in the controller software [see Borenstein and Feng, 1995a; 1995b]. The result is a 10- to 20-fold reduction in systematic errors. Figure 5.10 shows the result of a typical calibration session. D and D are the effective wheel RL diameters, and b is the effective wheelbase. Chapter 5: Dead-Reckoning 143 This calibration procedure can be performed with nothing more than an ordinary tape measure. It takes about two hours to run the complete calibration procedure and measure the individual return errors with a tape measure. 5.3.2 Reducing Non-Systematic Odometry Errors This section introduces methods for the reduction of non-systematic odometry errors. The methods discussed in Section 5.3.2.2 may at first confuse the reader because they were implemented on the somewhat complex experimental platform described in Section 1.3.7. However, the methods of Section 5.3.2.2 can be applied to many other kinematic configurations, and efforts in that direction are subject of currently ongoing research at the University of Michigan. 5.3.2.1 Mutual Referencing Sugiyama [1993] proposed to use two robots that could measure their positions mutually. When one of the robots moves to another place, the other remains still, observes the motion, and determines the first robot's new position. In other words, at any time one robot localizes itself with reference to a fixed object: the standing robot. However, this stop and go approach limits the efficiency of the robots. 5.3.2.2 Internal Position Error Correction A unique way for reducing odometry errors even further is Internal Position Error Correction (IPEC). With this approach two mobile robots mutually correct their odometry errors. However, unlike the approach described in Section 5.3.2.1, the IPEC method works while both robots are in continuous, fast motion [Borenstein, 1994a]. To implement this method, it is required that both robots can measure their relative distance and bearing continuously and accurately. Coincidentally, the MDOF vehicle with compliant linkage (described in Sec. 1.3.7) offers exactly these features, and the IPEC method was therefore implemented and demonstrated on that MDOF vehicle. This implementation is named Compliant Linkage Autonomous Platform with Position Error Recovery (CLAPPER). The CLAPPER's compliant linkage instrumentation was illustrated in Chapter 1, Figure 1.15. This setup provides real-time feedback on the relative position and orientation of the two trucks. An absolute encoder at each end measures the rotation of each truck (with respect to the linkage) with a resolution of 0.3 degrees, while a linear encoder is used to measure the separation distance to within 5 millimeters (0.2 in). Each truck computes its own dead-reckoned position and heading in conventional fashion, based on displacement and velocity information derived from its left and right drive-wheel encoders. By examining the perceived odometry solutions of the two robot platforms in conjunction with their known relative orientations, the CLAPPER system can detect and significantly reduce heading errors for both trucks (see video clip in [Borenstein, 1995V].) The principle of operation is based on the concept of error growth rate presented by Borenstein [1994a, 1995a], who makes a distinction between “fast-growing” and “slow-growing” odometry errors. For example, when a differentially steered robot traverses a floor irregularity it will immediately experience an appreciable orientation error (i.e., a fast-growing error). The associated lateral displacement error, however, is initially very small (i.e., a slow-growing error), but grows in an unbounded fashion as a consequence of the orientation error. The internal error correction algorithm performs relative position measurements with a sufficiently fast update rate (20 ms) to Lateral displacement at end of sampling interval a \book\clap41.ds4; .wmf, 07/19/95 Curved path while traversing bump Straight path after traversing bump Center Truck A expects to "see" Truck B along this line m Truck A actually "sees" Truck B along this line lat,c e a m lat,d 144 Part II Systems and Methods for Mobile Robot Positioning Figure 5.11: After traversing a bump, the resulting change of orientation of Truck A can be measured relative to Truck B. allow each truck to detect fast-growing errors in orientation, while relying on the fact that the lateral position errors accrued by both platforms during the sampling interval were small. Figure 5.11 explains how this method works. After traversing a bump Truck A's orientation will change (a fact unknown to Truck A's odometry computation). Truck A is therefore expecting to “see” Truck B along the extension of line L . However, because of the physically incurred rotation e of Truck A, the absolute encoder on truck A will report that truck B is now actually seen along line L . The angular difference between L and me L is the thus measured odometry orientation m error of Truck A, which can be corrected immediately. One should note that even if Truck B encountered a bump at the same time, the resulting rotation of Truck B would not affect the orientation error measurement. The compliant linkage in essence forms a pseudo-stable heading reference in world coordinates, its own orientation being dic- tated solely by the relative translations of its end points, which in turn are affected only by the lateral displacements of the two trucks. Since the lateral displacements are slow growing , the linkage rotates only a very small amount between encoder samples. The fast-growing azimuthal disturbances of the trucks, on the other hand, are not coupled through the rotational joints to the linkage, thus allowing the rotary encoders to detect and quantify the instantaneous orientation errors of the trucks, even when both are in motion. Borenstein [1994a; 1995a] provides a more complete description of this innova- tive concept and reports experimental results indicating improved odometry performance of up to two orders of magnitude over con- ventional mobile robots. It should be noted that the rather complex kinematic design of the MDOF vehicle is not necessary to implement the IPEC error correction method. Rather, the MDOF vehi- cle happened to be available at the time and allowed the University of Michigan research- ers to implement and verify the validity of the IPEC approach. Currently, efforts are under way to implement the IPEC method on a tractor-trailer assembly, called “ Smart Encoder Trailer ” (SET), which is shown in Figure 5.12. The principle of operation is Lateral displacement at end of sampling interval a Curved path while traversing bump Straight path after traversing bump m lat,c e m lat,d Robot expects to "see" trailer along this line Robot actual ly "sees" trailer along this line \book\tvin4set.ds4; .wmf, 07/19/95 Chapter 5: Dead-Reckoning 145 Figure 5.12: The University of Michigan's “ Smart Encoder Trailer ” (SET) is currently being instrumented to allow the implementation of the IPEC error correction method explained in Section 5.3.2.2. (Courtesy of The University of Michigan.) Figure 5.13: Proposed implementation of the IPEC method on a tractor-trailer assembly. illustrated in Figure 5.13. Simulation results, indicating the feasibility of implementing the IPEC method on a tractor-trailer assembly, were presented in [Borenstein, 1994b]. 5.4 Inertial Navigation An alternative method for enhancing dead reckoning is inertial navigation, initially developed for deployment on aircraft. The technology was quickly adapted for use on missiles and in outer space, and found its way to mari- time usage when the nuclear submarines Nautilus and Skate were suitably equipped in support of their transpo- lar voyages in 1958 [Dunlap and Shufeldt, 1972]. The principle of operation involves continuous sensing of minute accelerations in each of the three directional axes and integrating over time to derive velocity and position. A gyroscopically stabilized sensor platform is used to maintain consistent orientation of the three accelerometers throughout this process. Although fairly simple in concept, the specifics of implementation are rather demanding. This is mainly caused by error sources that adversely affect the stability of the gyros used to ensure correct attitude. The resulting high manufacturing and maintenance costs have effectively precluded any practical application of this technology in the automated guided vehicle industry [Turpin, 1986]. For example, a high-quality inertial navigation system (INS) such as would be found in a commercial airliner will have a typical drift of about 1850 meters (1 nautical mile) per hour of operation, and cost between $50K and $70K [Byrne et al., 1992]. High-end INS packages used in ground applications have shown performance of better than 0.1 percent of distance traveled, but cost in the neighbor- hood of $100K to $200K, while lower performance versions (i.e., one percent of distance traveled) run between $20K to $50K [Dahlin and Krantz, 1988]. 146 Part II Systems and Methods for Mobile Robot Positioning Experimental results from the Université Montpellier in France [Vaganay et al., 1993a; 1993b], from the University of Oxford in the U.K. [Barshan and Durrant-Whyte, 1993; 1995], and from the University of Michigan indicate that a purely inertial navigation approach is not realistically advantageous (i.e., too expensive) for mobile robot applications. As a consequence, the use of INS hardware in robotics applications to date has been generally limited to scenarios that aren’t readily addressable by more practical alternatives. An example of such a situation is presented by Sammarco [1990; 1994], who reports preliminary results in the case of an INS used to control an autonomous vehicle in a mining application. Inertial navigation is attractive mainly because it is self-contained and no external motion information is needed for positioning. One important advantage of inertial navigation is its ability to provide fast, low-latency dynamic measurements. Furthermore, inertial navigation sensors typically have noise and error sources that are independent from the external sensors [Parish and Grabbe, 1993]. For example, the noise and error from an inertial navigation system should be quite different from that of, say, a landmark-based system. Inertial navigation sensors are self-contained, non- radiating, and non-jammable. Fundamentally, gyros provide angular rate and accelerometers provide velocity rate information. Dynamic information is provided through direct measurements. However, the main disadvantage is that the angular rate data and the linear velocity rate data must be integrated once and twice (respectively), to provide orientation and linear position, respectively. Thus, even very small errors in the rate information can cause an unbounded growth in the error of integrated measurements. As we remarked in Section 2.2, the price of very accurate laser gyros and optical fiber gyros have come down significantly. With price tags of $1,000 to $5,000, these devices have now become more suitable for many mobile robot applications. 5.4.1 Accelerometers The suitability of accelerometers for mobile robot positioning was evaluated at the University of Michigan. In this informal study it was found that there is a very poor signal-to-noise ratio at lower accelerations (i.e., during low-speed turns). Accelerometers also suffer from extensive drift, and they are sensitive to uneven grounds, because any disturbance from a perfectly horizontal position will cause the sensor to detect the gravitational acceleration g. One low-cost inertial navigation system aimed at overcoming the latter problem included a tilt sensor [Barshan and Durrant-Whyte, 1993; 1995]. The tilt information provided by the tilt sensor was supplied to the accelerometer to cancel the gravity component projecting on each axis of the accelerometer. Nonetheless, the results obtained from the tilt-compensated system indicate a position drift rate of 1 to 8 cm/s (0.4 to 3.1 in/s), depending on the frequency of acceleration changes. This is an unacceptable error rate for most mobile robot applications. 5.4.2 Gyros Gyros have long been used in robots to augment the sometimes erroneous dead-reckoning information of mobile robots. As we explained in Chapter 2, mechanical gyros are either inhibitively expensive for mobile robot applications, or they have too much drift. Recent work by Barshan and Durrant-Whyte [1993; 1994; 1995] aimed at developing an INS based on solid-state gyros, and a fiber-optic gyro was tested by Komoriya and Oyama [1994]. 0 /s Chapter 5: Dead-Reckoning 147 Figure 5.14: Angular rate (top) and orientation (bottom) for zero-input case (i.e., gyro remains stationary) of the START gyro (left) and the Gyrostar (right) when the bias error is negative. The erroneous observations (due mostly to drift) are shown as the thin line, while the EKF output, which compensates for the error, is shown as the heavy line. (Adapted from [Barshan and Durrant-Whyte, 1995] © IEEE 1995.) 5.4.2.1 Barshan and Durrant-Whyte [1993; 1994; 1995] Barshan and Durrant-Whyte developed a sophisticated INS using two solid-state gyros, a solid-state triaxial accelerometer, and a two-axis tilt sensor. The cost of the complete system was £5,000 (roughly $8,000). Two different gyros were evaluated in this work. One was the ENV-O5S Gyrostar from [MURATA], and the other was the S olid State Angular Rate Transducer (START) gyroscope manufactured by [GEC]. Barshan and Durrant-Whyte evaluated the performance of these two gyros and found that they suffered relatively large drift, on the order of 5 to 15 /min. The Oxford researchers then developed a sophisticated error model for the gyros, which was subsequently used in an Extended Kalman Filter (EKF — see Appendix A). Figure 5.14 shows the results of the experiment for the START gyro (left-hand side) and the Gyrostar (right-hand side). The thin plotted lines represent the raw output from the gyros, while the thick plotted lines show the output after conditioning the raw data in the EKF. The two upper plots in Figure 5.14 show the measurement noise of the two gyros while they were stationary (i.e., the rotational rate input was zero, and the gyros should ideally show ). Barshan and Durrant-Whyte determined that the standard deviation, here used as a measure for the 148 Part II Systems and Methods for Mobile Robot Positioning Figure 5.15: Computer simulation of a mobile robot run (Adapted from [Komoriya and Oyama, 1994].) a. Only odometry, without gyro information. b. Odometry and gyro information fused. amount of noise, was 0.16 /s for the START gyro and 0.24 /s for the Gyrostar. The drift in the rate output, 10 minutes after switching on, is rated at 1.35 /s for the Gyrostar (drift-rate data for the START was not given). The more interesting result from the experiment in Figure 5.14 is the drift in the angular output, shown in the lower two plots. We recall that in most mobile robot applications one is interested in the heading of the robot, not the rate of change in the heading. The measured rate must thus be integrated to obtain . After integration, any small constant bias in the rate measurement turns into a constant-slope, unbounded error, as shown clearly in the lower two plots of Figure 5.14. At the end of the five-minute experiment, the START had accumulated a heading error of -70.8 degrees while that of the Gyrostar was -59 degrees (see thin lines in Figure 5.14). However, with the EKF, the accumulated errors were much smaller: 12 degrees was the maximum heading error for the START gyro, while that of the Gyrostar was -3.8 degrees. Overall, the results from applying the EKF show a five- to six-fold reduction in the angular measurement after a five-minute test period. However, even with the EKF, a drift rate of 1 to 3 /min o can still be expected. 5.4.2.2 Komoriya and Oyama [1994] Komoriya and Oyama [1994] conducted a study of a system that uses an optical fiber gyroscope, in conjunction with odometry information, to improve the overall accuracy of position estimation. This fusion of information from two different sensor systems is realized through a Kalman filter (see Appendix A). Figure 5.15 shows a computer simulation of a path-following study without (Figure 5.15a) and with (Figure 5.15b) the fusion of gyro information. The ellipses show the reliability of position estimates (the probability that the robot stays within the ellipses at each estimated position is 90 percent in this simulation). Chapter 5: Dead-Reckoning 149 Figure 5.16: Melboy , the mobile robot used by Komoriya and Oyama for fusing odometry and gyro data. (Courtesy of [Komoriya and Oyama, 1994].) In order to test the effectiveness of their method, Komoriya and Oyama also conducted actual experiments with Melboy, the mobile robot shown in Figure 5.16. In one set of experiments Melboy was instructed to follow the path shown in Figure 5.17a. Melboy's maximum speed was 0.14 m/s (0.5 ft/s) and that speed was further reduced at the corners of the path in Figure 5.17a. The final position errors without and with gyro information are compared and shown in Figure 5.17b for 20 runs. Figure 5.17b shows that the deviation of the position estimation errors from the mean value is smaller in the case where the gyro data was used (note that a large average deviation from the mean value indicates larger non-systematic errors, as explained in Sec. 5.1). Komoriya and Oyama explain that the noticeable deviation of the mean values from the origin in both cases could be reduced by careful calibration of the systematic errors (see Sec. 5.3) of the mobile robot. We should note that from the description of this experiment in [Komoriya and Oyama, 1994] it is not immediately evident how the “position estima- tion error” (i.e., the circles) in Figure 5.17b was found. In our opinion, these points should have been measured by marking the return position of the robot on the floor (or by any equivalent method that records the absolute position of the robot and compares it with the internally computed position estimation). The results of the plot in Figure 5.17b, however, appear to be too accurate for the absolute position error of the robot. In our experience an error on the order of several centimeters, not millimeters, should be expected after completing the path of Figure 5.17a (see, for example, [Borenstein and Koren, 1987; Borenstein and Feng, 1995a; Russel, 1995].) Therefore, we interpret the data in Figure 5.17b as showing a position error that was computed by the onboard computer, but not measured absolutely. 5.5 Summary Odometry is a central part of almost all mobile robot navigation systems. Improvements in odometry techniques will not change their incremental nature, i.e., even for improved odometry, periodic absolute position updates are necessary. 150 Part II Systems and Methods for Mobile Robot Positioning Figure 5.17: Experimental results from Melboy using odometry with and without a fiber-optic gyro. a. Actual trajectory of the robot for a triangular path. b. Position estimation errors of the robot after completing the path of a. Black circles show the errors without gyro; white circles show the errors with the gyro. (Adapted from [Komoriya and Oyama, 1994].) More accurate odometry will reduce the requirements on absolute position updates and will facilitate the solution of landmark and map-based positioning. Inertial navigation systems alone are generally inadequate for periods of time that exceed a few minutes. However, inertial navigation can provide accurate short-term information, for example orientation changes during a robot maneuver. Software compensation, usually by means of a Kalman filter, can significantly improve heading measurement accuracy. [...]... cm, 72 cm) and p 18 at (12.5 cm, 18. 3 cm) Because of these poor position estimates, the resulting centroid (average) is at P a = (17 cm, 24 cm) However, the Position Estimator can identify and exclude the two outliers The centroid calculated without the outliers p 5 and p 18 is at P b = (12.5 cm, 18. 3 cm) The final position estimate after the Position Estimator is applied again on the 18 “good” landmarks... positioned a known distance apart (typically 2. 28 m — 90 in) along the edge of the operating area as shown in Figure 6.4 Each robot is equipped with a receiving ultrasonic transducer situated beneath a cone-shaped reflector for omnidirectional coverage Communication between the base station and individual robots is accomplished using a Proxim spread-spectrum (902 to 9 28 MHz) RF link The base station... detected reflection pattern as in Figure 6 .8 confirmed beacon acquisition Angular orientation relative to each of the retroreflective arrays was inferred from the stepper-motor commands that drove the scanning mechanism; lateral position was determined through simple triangulation 160 Part II Systems and Methods for Mobile Robot Positioning d d d d R d R R Figure 6 .8: A confirmed reflection pattern as depicted... tolerances, it was found that accurate navigation is possible throughout a large area, although error sensitivity is a function of the point of observation and the beacon arrangements [McGillem and Rappaport, 1 988 ] 6.1.1 Three-Point Triangulation Cohen and Koss [1992] performed a detailed analysis on three-point triangulation algorithms and ran computer simulations to verify the performance of different algorithms... conjunction with fixed-location references strategically placed at predefined locations within the operating environment A number of variations on this theme are seen in practice [Everett, 1995]: 1 58     Part II Systems and Methods for Mobile Robot Positioning Scanning detectors with fixed active beacon emitters Scanning emitter/detectors with passive retroreflective targets Scanning emitter/detectors... exceed 8 ft) as repeatedly measured by the docking sonar Special instructions in the path program can then be used to reset vehicle heading and/or position 6.3.2 Hilare Early work incorporating passive beacon tracking at the Laboratoire d’Automatique et d’Analyse des Systemes, Toulouse, France, involved the development of a navigation subsystem for the mobile robot Hilare [Banzil et al., 1 981 ] The... [Borenstein and Koren, 1 986 ] One problem with this configuration is that the active beacons need to be extremely powerful to insure omnidirectional transmission over large distances Since such powerful beacons are not very practical it is necessary to focus the beacon within a cone-shaped propagation pattern As a result, beacons are not visible in many areas, a problem that is particularly grave because... reflection pattern as depicted above was required to eliminate potential interference from other highly specular surfaces [Banzil et al., 1 981 ] Figure 6.7: Retroreflective beacon array configuration used on the mobile robot Hilare (Adapted from [Banzil et al, 1 981 ].) 6.3.3 NAMCO LASERNET The NAMCO LASERNET beacon tracking system (Figure 6.9) employs retroreflective targets distributed throughout the... measurement circuitry, but only within the interval of a single wavelength The actual distance from transmitter to receiver is the summation of some integer number of wavelengths (determined by the 156 Part II Systems and Methods for Mobile Robot Positioning coarse time-of-arrival measurement) plus that fractional portion of a wavelength represented by the phase measurement results Details of this time-of-arrival... suitable, but an intelligent combination of two or more methods helps overcome the individual weaknesses Yet another variation of the triangulation method is the so-called running fix, proposed by Case [1 986 ] The underlying principle of the running fix is that an angle or range obtained from a beacon at time t-1 can be utilized at time t, as long as the cumulative movement vector recorded since the reading . zero, and the gyros should ideally show ). Barshan and Durrant-Whyte determined that the standard deviation, here used as a measure for the 1 48 Part II Systems and Methods for Mobile Robot Positioning Figure. landmark-based system. Inertial navigation sensors are self-contained, non- radiating, and non-jammable. Fundamentally, gyros provide angular rate and accelerometers provide velocity rate information neighbor- hood of $100K to $200K, while lower performance versions (i.e., one percent of distance traveled) run between $20K to $50K [Dahlin and Krantz, 1 988 ]. 146 Part II Systems and Methods for Mobile